start;              % 清除数据，执行glvs
load trj_ahrs.mat;  % 载入数据

imu = trj.imu;
pos0 = glv.pos0;

avp = AlignTest(pos0,imu);

figure;
plot(avp(:,10), avp(:,1:3)./glv.deg, 'LineWidth',2);
xylabelsEx('t - s','att - deg');
legendEx({'Pitch','Roll','Yaw'});
